Add asset kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d
Browse files- .gitattributes +1 -0
- dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/affordance/affordance_annot.json +572 -0
- dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/wire_cutters_002.urdf +1 -0
.gitattributes
CHANGED
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@@ -7040,3 +7040,4 @@ dataset/kitchen_supplies/cutting_tools/b546b1f2ecb95e1290213bcc99af9a39/affordan
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| 7040 |
dataset/kitchen_supplies/cutting_tools/b5d37efe1eca5fc695846d4c11fdfc1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7041 |
dataset/kitchen_supplies/cutting_tools/b8d32bbff77f5f8b98aca723f1343d42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7042 |
dataset/kitchen_supplies/cutting_tools/bc11cf173de25f519fc68963532a490a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7040 |
dataset/kitchen_supplies/cutting_tools/b5d37efe1eca5fc695846d4c11fdfc1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7041 |
dataset/kitchen_supplies/cutting_tools/b8d32bbff77f5f8b98aca723f1343d42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7042 |
dataset/kitchen_supplies/cutting_tools/bc11cf173de25f519fc68963532a490a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7043 |
+
dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,572 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle grips",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle grips to pick up and hold the wire cutters",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle grips to squeeze the tool for cutting",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp one handle area to stabilize or reposition the tool on a work surface",
|
| 18 |
+
"confidence": 0.82
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"enable hand force input",
|
| 24 |
+
"provide leverage for cutting",
|
| 25 |
+
"insulate the user's hold",
|
| 26 |
+
"support tool handling"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Two elongated red and black rubber-coated handle grips with a matte slightly textured surface, forming the large rear portion of the tool and sized for secure comfortable holding.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9808639883995056,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.01880958239780739,
|
| 35 |
+
0.011833875440061092,
|
| 36 |
+
0.09757031100525637
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.03890577154491379,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.994734005406518,
|
| 42 |
+
0.04327476413631845,
|
| 43 |
+
0.08436761355725517
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_3": {
|
| 48 |
+
"confidence": 0.9800099730491638,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.0010479615884833038,
|
| 51 |
+
0.012524195946753025,
|
| 52 |
+
0.09737761663927813
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.03831421777524667,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.9987790972274304,
|
| 58 |
+
0.02923843158465795,
|
| 59 |
+
0.010837424800173606
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_5": {
|
| 64 |
+
"confidence": 0.9798570275306702,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.0035615203087218106,
|
| 67 |
+
0.001030556857585907,
|
| 68 |
+
0.09702846008076449
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.03698788010961707,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.9981023528113193,
|
| 74 |
+
0.04393103078364802,
|
| 75 |
+
0.022218338637071643
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_7": {
|
| 80 |
+
"confidence": 0.9791715741157532,
|
| 81 |
+
"position": [
|
| 82 |
+
0.03609924454940483,
|
| 83 |
+
0.007941541261970997,
|
| 84 |
+
0.09347547190918704
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.06002993978852604,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.9817782521782634,
|
| 90 |
+
-0.034299817971641555,
|
| 91 |
+
0.17700675796672927
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_8": {
|
| 96 |
+
"confidence": 0.9790228009223938,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.017162465781439096,
|
| 99 |
+
-0.03650274034589529,
|
| 100 |
+
0.0881669555856206
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.19857536440017934,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.9744122578718724,
|
| 106 |
+
-0.04140235504199821,
|
| 107 |
+
-0.0968215955216213
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
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+
"grasp_39": {
|
| 521 |
+
"confidence": 0.9148792028427124,
|
| 522 |
+
"position": [
|
| 523 |
+
-0.0021608342067338526,
|
| 524 |
+
-0.15381800290197134,
|
| 525 |
+
-0.0007614785972691607
|
| 526 |
+
],
|
| 527 |
+
"orientation": {
|
| 528 |
+
"w": 0.504565401512837,
|
| 529 |
+
"xyz": [
|
| 530 |
+
-0.5041868732186721,
|
| 531 |
+
0.4974922284958776,
|
| 532 |
+
0.4936707759796744
|
| 533 |
+
]
|
| 534 |
+
}
|
| 535 |
+
}
|
| 536 |
+
}
|
| 537 |
+
},
|
| 538 |
+
{
|
| 539 |
+
"part_name": "jaw insert",
|
| 540 |
+
"mask_color": "Magenta",
|
| 541 |
+
"graspable": false,
|
| 542 |
+
"grasp_scenarios": [],
|
| 543 |
+
"functional_labels": [
|
| 544 |
+
"form cutting edge",
|
| 545 |
+
"improve cutting contact",
|
| 546 |
+
"define jaw tip geometry"
|
| 547 |
+
],
|
| 548 |
+
"semantic_description": "A narrow silver-toned metal strip along the jaw edge/tip area with a smooth reflective finish, hard sharp feel, and small elongated shape integrated into the front cutting head.",
|
| 549 |
+
"id": 7,
|
| 550 |
+
"grasp_group": {}
|
| 551 |
+
},
|
| 552 |
+
{
|
| 553 |
+
"part_name": "pivot joint",
|
| 554 |
+
"mask_color": "Brown",
|
| 555 |
+
"graspable": false,
|
| 556 |
+
"grasp_scenarios": [],
|
| 557 |
+
"functional_labels": [
|
| 558 |
+
"connect handles and jaws",
|
| 559 |
+
"provide rotation axis",
|
| 560 |
+
"transfer squeezing force",
|
| 561 |
+
"maintain tool alignment"
|
| 562 |
+
],
|
| 563 |
+
"semantic_description": "Compact silver metal hinge and fastener assembly at the center of the wire cutters, with a hard smooth machined surface, circular pivot details, and small structural linkage parts.",
|
| 564 |
+
"id": 11,
|
| 565 |
+
"grasp_group": {}
|
| 566 |
+
}
|
| 567 |
+
],
|
| 568 |
+
"quality_check": {
|
| 569 |
+
"success": true,
|
| 570 |
+
"message": "YES"
|
| 571 |
+
}
|
| 572 |
+
}
|
dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:34dffab47f83f916477e7c8c9e72200c2ddf5f332ab9c3261a74a0eb6e7a91c5
|
| 3 |
+
size 3796120
|
dataset/kitchen_supplies/cutting_tools/bfb8b678a5bb5faaa2045868c578269d/wire_cutters_002.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
|